import pybullet
import time

#choose connection method: GUI, DIRECT, SHARED_MEMORY
pybullet.connect(pybullet.GUI)

#load URDF, given a relative or absolute file+path
obj = pybullet.loadURDF("r2d2.urdf")

posX=0
posY=3
posZ=2
obj2 = pybullet.loadURDF("kuka_lwr/kuka.urdf",posX,posY,posZ)

#query the number of joints of the object
numJoints = pybullet.getNumJoints(obj)

print (numJoints)

#set the gravity acceleration
pybullet.setGravity(0,0,-9.8)

#step the simulation for 5 seconds
t_end = time.time() + 5
while time.time() < t_end:
	pybullet.stepSimulation()
	posAndOrn = pybullet.getBasePositionAndOrientation(obj)
	print (posAndOrn)

print ("finished")
#remove all objects
pybullet.resetSimulation()

#disconnect from the physics server
pybullet.disconnect()